354-0310/02 – Control of Industrial Robots (RPR)
Gurantor department | Department of Robotics | Credits | 6 |
Subject guarantor | prof. Dr. Ing. Vladimír Mostýn | Subject version guarantor | prof. Dr. Ing. Vladimír Mostýn |
Study level | undergraduate or graduate | Requirement | Compulsory |
Year | 3 | Semester | summer |
| | Study language | Czech |
Year of introduction | 2007/2008 | Year of cancellation | 2013/2014 |
Intended for the faculties | FS | Intended for study types | Bachelor |
Subject aims expressed by acquired skills and competences
The goal of this subject is to obtain knowledge from the HW and SW means of the robot control. Students obtain knowledge in area of robot drives, their properties and basic control, as well as basic knowledge of the structures of the robot control systems.
Teaching methods
Lectures
Tutorials
Summary
This course deals with main principles of the robot control systems and basic methods of their control. In detail are discussed discrete and continuous electric drives and methods of their control, further HW and SW means of the robots and manipulators control at the basic level.
Compulsory literature:
Dombre, E., Khalil, W. Robot Manipulators - Modeling, Performance, Analysis and Control. 2007. ISBN-10: 1-905209-10-X
Recommended literature:
Way of continuous check of knowledge in the course of semester
Test in the last excersize, concurrent control during elaborating of the individual project.
E-learning
Other requirements
Basic knowledge of kinematics and dynamics of the multibody systems.
Prerequisities
Subject has no prerequisities.
Co-requisities
Subject has no co-requisities.
Subject syllabus:
1. Hierarchical structure of the robot control system, tasks of the individual levels.
2. Electric drives of robots – discrete drives – solenoids, step-motors, characteristics, way of control.
3. Electric drives of robots – continuous drives – DC and AC brushless motors, characteristics, way of control.
4. Electric drives of robots – continuous drives – synchronous and asynchronous AC motors, characteristics, way of control.
5. Position sensors of robots – contact, resistive, inductive and capacitive sensors, photoelectric and optoelectronic sensors, fluidic sensors.
6. HW and SW means of the basic level of robot control systems.
7. HW and SW means of the operational level of robot control systems –an inverse kinematic task.
8. Solutions of the inverse kinematic task and connections to other levels of the control system.
9. Graphic simulation of robotized workcells.
Conditions for subject completion
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction
Předmět neobsahuje žádné hodnocení.